The later setup works automatic even with CAN-USB converter hotplug.
</p>
+<h2 id="simulink_setup">CANopen PDO Control and Monitoring Robot Arm Demo</h2>
<p>
The projects includes blocks library <b>socketcan_lib.slx</b>, simple
example of provided blocks use <b>cantransmit_ert.slx</b> and more
The CAN-USB converter from 8devices has been used in this case.
</p>
+<h2 id="simulink_setup">Simulink target Setup</h2>
+<p>
+Download/clone <a href="http://lintarget.sourceforge.net/">ERT Linux</a> target
+and Linux CAN bus toolbox repositories. The example expects the toolbox
+are placed into user local <tt>~/matlab/toolbox</tt> directory.
+Setup Matlab path for thee projects. One option is to use <tt>~/matlab/startup.m</tt>
+file for this porpose:
+</p>
+<pre>
+function startup(AddRem)
+
+disp 'Executing local setup stript ~/matlab/startup.m'
+
+restoredefaultpath
+
+[matlab_startup_dir, matlab_startup_filename, matlab_startup_dir_ext] = fileparts(mfilename('fullpath'));
+
+addpath(fullfile(matlab_startup_dir, 'toolbox/ert_linux/ert_linux'));
+addpath(fullfile(matlab_startup_dir, 'toolbox/socketcan-simulink/blocks'));
+</pre>
+<p>
+Use example model as base for the project or open <b>Simulation</b> → <b>Model Configuration Parameters</b>
+dialog and select <b>System target file</b> to <tt>ert_linux.tlc</tt> in <b>Code Genration</b> section.
+Check <b>Make command</b>. It should be something like:
+</p>
+<pre>
+make_rtw OPT_OPTS="-O2 -ggdb -Wall -D_BSD_SOURCE"
+</pre>
+<p>
+Use proper <tt>CC</tt> variable definition in case of cross compilation to some other target.
+See next example for Raspberry Pi:
+</p>
+<pre>
+make_rtw OPT_OPTS="-O2 -ggdb -Wall -D_BSD_SOURCE" CC=arm-rpi-linux-gnueabihf-gcc
+</pre>
+
<h2 id="links">Links</h2>
<dl>
<dt>Linux CAN bus toolbox repository</dt>